{"id":"https://openalex.org/W3198991857","doi":"https://doi.org/10.1145/3467691.3467702","title":"The hierarchical-distributed control system of hydraulic walking robot WLBOT","display_name":"The hierarchical-distributed control system of hydraulic walking robot WLBOT","publication_year":2021,"publication_date":"2021-04-09","ids":{"openalex":"https://openalex.org/W3198991857","doi":"https://doi.org/10.1145/3467691.3467702","mag":"3198991857"},"language":"en","primary_location":{"id":"doi:10.1145/3467691.3467702","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3467691.3467702","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 4th International Conference on Robot Systems and Applications","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5036407315","display_name":"Junkui Dong","orcid":"https://orcid.org/0000-0002-8215-3152"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Junkui Dong","raw_affiliation_strings":["Zhejiang University, China"],"affiliations":[{"raw_affiliation_string":"Zhejiang University, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101426694","display_name":"Bo Jin","orcid":"https://orcid.org/0000-0002-0947-5016"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bo Jin","raw_affiliation_strings":["Zhejiang University and Zhejiang University, China"],"affiliations":[{"raw_affiliation_string":"Zhejiang University and Zhejiang University, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100636821","display_name":"Ziqi Liu","orcid":"https://orcid.org/0000-0002-7819-3792"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ziqi Liu","raw_affiliation_strings":["Zhejiang University, China"],"affiliations":[{"raw_affiliation_string":"Zhejiang University, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5088634635","display_name":"Shuo Zhai","orcid":"https://orcid.org/0000-0003-2628-0752"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuo Zhai","raw_affiliation_strings":["Zhejiang University, China"],"affiliations":[{"raw_affiliation_string":"Zhejiang University, China","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5036407315"],"corresponding_institution_ids":["https://openalex.org/I76130692"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.1009229,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"27","issue":null,"first_page":"71","last_page":"75"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9970999956130981,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9419000148773193,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/layer","display_name":"Layer (electronics)","score":0.7417348027229309},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6668072938919067},{"id":"https://openalex.org/keywords/hierarchical-control-system","display_name":"Hierarchical control system","score":0.651568591594696},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.6151553392410278},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6118535995483398},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.5946105718612671},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.5155479907989502},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.5095906257629395},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4154948890209198},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.37268179655075073},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22491180896759033},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21265438199043274}],"concepts":[{"id":"https://openalex.org/C2779227376","wikidata":"https://www.wikidata.org/wiki/Q6505497","display_name":"Layer (electronics)","level":2,"score":0.7417348027229309},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6668072938919067},{"id":"https://openalex.org/C124527596","wikidata":"https://www.wikidata.org/wiki/Q17029359","display_name":"Hierarchical control system","level":3,"score":0.651568591594696},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.6151553392410278},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6118535995483398},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.5946105718612671},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.5155479907989502},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.5095906257629395},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4154948890209198},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.37268179655075073},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22491180896759033},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21265438199043274},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C178790620","wikidata":"https://www.wikidata.org/wiki/Q11351","display_name":"Organic chemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3467691.3467702","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3467691.3467702","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 4th International Conference on Robot Systems and Applications","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.7099999785423279,"display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G423994746","display_name":null,"funder_award_id":"2019B10052","funder_id":"https://openalex.org/F4320324778","funder_display_name":"Ningbo Municipal Bureau of Science and Technology"}],"funders":[{"id":"https://openalex.org/F4320324778","display_name":"Ningbo Municipal Bureau of Science and Technology","ror":"https://ror.org/00gskyj95"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W1486120613","https://openalex.org/W1975230295","https://openalex.org/W2085391636","https://openalex.org/W2111904757","https://openalex.org/W2531596132","https://openalex.org/W2564058710","https://openalex.org/W2790603666","https://openalex.org/W2799563608","https://openalex.org/W2801566760"],"related_works":["https://openalex.org/W2119211254","https://openalex.org/W2733509395","https://openalex.org/W2887125121","https://openalex.org/W2145590848","https://openalex.org/W2755887994","https://openalex.org/W2369699286","https://openalex.org/W3149490355","https://openalex.org/W2374143010","https://openalex.org/W2548212430","https://openalex.org/W2045110386"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"a":[3],"hierarchical-distributed":[4,90],"control":[5,12,38,56,72,77,85,91,102,105],"system":[6,13,73,92,103],"of":[7],"WLBOT":[8,86,107],"is":[9,14,64,93,113],"proposed.":[10],"The":[11,29,41,50,60,71],"divided":[15],"into":[16],"three":[17],"layers,":[18],"the":[19,22,26,75,81,89,98,101,106,115],"decision-making":[20,30],"layer,":[21,24],"coordination":[23,42,46],"and":[25,36,47,57,68,84,110],"executive":[27],"layer.":[28],"layer":[31,43,52],"realizes":[32,44,53],"human-computer":[33],"interactive":[34],"display":[35],"motion":[37],"instructions":[39],"sending.":[40],"data":[45,58],"movement":[48,82],"planning.":[49],"execution":[51],"joint":[54],"angle":[55],"collection.":[59],"communication":[61],"between":[62],"layers":[63],"based":[65],"on":[66,95],"WIFI":[67],"CAN":[69],"bus.":[70],"uses":[74],"model-based":[76],"method":[78],"to":[79],"plan":[80],"trajectory":[83],"moving.":[87],"Finally,":[88],"tested":[94],"WLBOT.":[96],"From":[97],"experimental":[99],"results,":[100],"can":[104],"moving":[108],"correctly,":[109],"each":[111],"foot":[112],"following":[114],"corresponding":[116],"planning":[117],"trajectory.":[118]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}